test: use luatest modules instead of internal ones

Some internal modules have been recently copied to luatest repo [1,2]
and now they can be safely removed, and the corresponding functionality
from luatest can be used instead.

Affected modules:

- test/luatest_helpers/server.lua

[1] tarantool/luatest#258
[2] tarantool/luatest#266

Closes tarantool/luatest#239

NO_DOC=testing stuff
NO_TEST=testing stuff
NO_CHANGELOG=testing stuff